D455 Poor Depth Performance
Since a while back, we are having issues with the accuracy of the depth measurements on the D455. It used to be really good, however, now I cant manage to make it work like it used to. This is likely not an issue with an specific D455 unit, as I own over 6 of them and all of them perform similarly.
I have tried calibrating it many times but is does not improve. I am attaching images of what is going on.
This first image is what we use to be able to achieve (this was good).
This second image is what we are getting now (this is not that good).
I am also attaching my current calibration parameters:
https://drive.google.com/file/d/1E45qfIM8bTWknHR1_yfBywd8gbHBjYns/view?usp=sharing
System: Ubuntu 18, ARM64 processor (Nvidia Jetson AGX Xavier).
Is anyone experiencing similar issues?
Any ideas on how we can improve depth accuracy?
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Hi Mau Please try resetting the camera to its factory-new default calibration using the instructions at the link below if you have not done so already.
https://github.com/IntelRealSense/librealsense/issues/10182#issuecomment-1019854487
If your images are produced in the RealSense Viewer tool then you could also try resetting the Viewer's settings to their defaults with the instructions at the link below.
https://support.intelrealsense.com/hc/en-us/community/posts/360052013914/comments/1500000416522
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Hi Marty,
Thanks for the prompt response.
Is there a way to do the resetting the camera to its factory-new default calibration using the command line?
Unfortunately, I already have the camera assembled on a system and hooked up to a Jetson computer (AGX Xavier) and it will be complicated to connect it to the realsense viewer.
Thank you!
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You can perform a reset of the camera to factory-default calibration with a procedure called a 'Gold Reset' that is a feature of a command-line calibration tool called CustomRW. This tool can be obtained by installing the RealSense Dynamic Calibration software tool.
If you are using Ubuntu then the Dynamic Calibration tool can be installed using the instructions on page 14 onwards of the user guide for the tool.
Once CustomRW is installed then a gold reset can be performed by inputting the command below into the Ubuntu terminal:
Intel.RealSense.CustomRW -g
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Hi Marty,
We are not able to perform the Gold Reset yet. We are not able to add the CustomRW repository to our Jetson computer.
Is it possible that it is not compatible with ARM64?
As per the User Guide, we are trying to add the repo using the following command:
3.1.2.1 Debian Package Installation through Amazon AWS The Debian packages are available on Amazon AWS and can be installed with the following steps.
Add Intel server to the list of repositories:
On Ubuntu 18.04: echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
However, we get an error:
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UPDATE
We were able to perform the Gold Reset from our Jetson AGX. The previous link you provided did not work, however we found another source which worked. Here it is:
After performing the Gold reset the depth map seemed to get worse, however, after performing an on-chip calibration and a second gold reset, it did seem to get better.
Is there a way to quantitatively evaluate how good the depth perception is?? Other than visually discerning whether the depth map looks good or has too many holes or noise?
Thanks for the support!
Image before the Gold Reset (with On-chip calibration)
Image After the 1st Gold Reset:
Image after the 2nd Gold reset:
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Hi Mau The RealSense SDK's Depth Quality Tool provides real-time feedback about depth quality and depth error.
https://github.com/IntelRealSense/librealsense/tree/master/tools/depth-quality
Further information about the Depth Quality Tool can be found on page 14 of Intel's Camera Depth Testing Methodology white-paper document at the link below.
https://dev.intelrealsense.com/docs/camera-depth-testing-methodology
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